CN114355761A - Current-closed-loop-based water pump constant-pressure and flow control measuring platform and identification method - Google Patents
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- CN114355761A CN114355761A CN202111634680.9A CN202111634680A CN114355761A CN 114355761 A CN114355761 A CN 114355761A CN 202111634680 A CN202111634680 A CN 202111634680A CN 114355761 A CN114355761 A CN 114355761A
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Abstract
The invention discloses a current closed loop-based water pump constant-pressure and flow control measuring platform and an identification method, and the current closed loop-based water pump constant-pressure and flow control measuring platform comprises a test mounting platform 1, an aviation water pump 2, a measuring module 3, a spraying device 4, a water pipe support 5, a water tank 6, an F4 control panel 7, a power supply module 8, a PVC (polyvinyl chloride) transparent hose 9, a straight-through threaded joint 10, a double-internal-threaded pipe 11, a flow sensor 12, a three-way flow divider 13, a pressure sensor 14, a U-shaped hoop 15, an elbow threaded joint 16, a UPVC (unplasticized polyvinyl chloride) transparent hard straight water pipe 17, a UPVC (unplasticized polyvinyl chloride) transparent pipe cap 18, an internal-water-leakage-prevention high-pressure spray head 19, a current sensor 20, a water pipe clamp 21, an aluminum profile support frame 22, a DC48V power supply 23, a 48V-to-24V transformer 24 and a 48V to 5V transformer 25. The invention obtains a mathematical model by analyzing and processing the working current of the water pump, the flow of the water pipe and the pressure data under different control conditions, and realizes the constant pressure and the flow control of the water pump based on the current closed loop on the basis of the mathematical model.
Description
Technical Field
The invention belongs to the technical field of water pump measurement, and particularly relates to a current closed loop-based water pump constant-pressure and flow control measurement platform and an identification method.
Background
The water pump is an electrical device for conveying liquid or pressurizing liquid, transmits mechanical energy of an internal motor to the liquid to transport or pressurize the liquid, and is widely applied to agriculture, industry and the like, so that the acquisition of the feedback quantity of the water pump has very important practical significance for realizing closed-loop control of the water pump.
At present, the constant pressure control and flow control of a water pump are most widely applied, and in the aspect of agricultural pesticide application operation, as pesticides are corrosive, corrosion can be caused to a pressure sensor and a flow sensor, so that the control effect is influenced, and the performance of operation equipment is reduced.
Disclosure of Invention
Based on the defects of the control method in agricultural operation, the invention discloses a water pump constant-pressure and flow control measuring platform based on a current closed loop and an identification method.
The invention aims to design a water pump control method which replaces the traditional constant pressure control and flow control with current control.
The technical scheme of the invention comprises the following steps: the utility model provides a water pump constant voltage and flow control measuring platform based on electric current closed loop, includes test mount table (1), aviation water pump (2), measuring module (3), atomizer (4), water tank (6), F4 control panel (7), power module (8), PVC transparent hose (9).
The water tank (6) is connected with the aviation water pump (2) through a PVC transparent hose (9) provided with a straight-through threaded joint (10), the aviation water pump (2) is connected with the measuring module (3) at a water outlet through the PVC transparent hose (9) and a double-internal-thread pipe ancient pipe (11), the measuring module (3) is connected with the spraying device (4) through a three-way flow divider (13) and the PVC transparent hose (9), and water flows to the spraying device (4) from the water tank (6) through the aviation water pump (2) and the measuring module (3).
Furthermore, corresponding mounting holes are formed in the test mounting table (1) according to the requirements of water pump constant pressure and flow control tests, so that the aviation water pump (2), the F4 control board (7) and the measurement module (3) are tightly fixed on the test mounting table (1).
Furthermore, the measuring module (3) is composed of a flow sensor (12), a pressure sensor (14) and a current sensor (20), the flow sensor (12) and the pressure sensor (14) are connected through a three-way shunt (13) to measure pressure and flow parameters at a water outlet of the water pump, and the current sensor (20) is connected in series with a power supply cathode of the aviation water pump (2) and used for measuring current parameters of the aviation water pump (2).
Furthermore, the spraying device (4) is installed on a UPVC transparent hard straight water pipe (17) through two internal water-running anti-leakage high-pressure nozzles (19), the UPVC transparent hard straight water pipe (17) is sealed through a UPVC transparent pipe cap (18), and the spraying device (4) is connected with the measuring module (3) through an elbow threaded joint (16).
Further, the water pipe support (13) is arranged on the aluminum profile support frame (22) through a water pipe clamp (21) to fix the spraying device (4).
Furthermore, the F4 control board (7) is fixed on the test mounting table (1) and connected with the flow sensor (12), the pressure sensor (14), the current sensor (20) and the aviation water pump (2), so that current, water pressure and flow data are collected and analyzed in real time, and the aviation water pump (2) is subjected to closed-loop control according to different control requirements.
Further, the power supply module (8) consists of a DC48V power supply (23), a 48V-to-24V transformer (24) and a 48V-to-5V transformer (25) and respectively supplies power to the aviation water pump (2), the pressure sensor (14) and the F4 control board (7).
The invention discloses a method for identifying measurement data of a water pump constant-pressure and flow-control measurement platform based on a current closed loop, which comprises the following steps of:
step 1, a water pump is connected with a DC48V power supply (23), and a power supply module (8) supplies power to a pressure sensor (14), a flow sensor (12), a current sensor (20) and an F4 control panel (7) through a 48V-to-24V transformer (24) and a 48V-to-5V transformer (25);
step 5, performing curve fitting on the curve data measured in the two steps, establishing a state equation to describe the relationship among pressure, flow and current, and solving identification parameters;
and step 6, taking the water pump current measured by the current sensor (20) as a feedback quantity, and performing closed-loop control according to the obtained identification parameters to verify the parameter validity.
The invention has the following technical effects:
(1) the device is suitable for various water pumps and spraying devices, is not only suitable for direct-current diaphragm pumps, but also suitable for current closed-loop tests of conventional water pumps and spraying devices such as centrifugal pumps and gear pumps.
(2) The test platform not only tests the current closed loop of the water pump, but also tests the pressure and the flow of the water pump in a closed loop manner, thereby realizing multifunctional integration.
(3) The test platform identifies the measured parameters, so that the test platform can observe various state curves of the water pump during working and can obtain a corresponding mathematical model according to the relation between the curves.
Drawings
FIG. 1 is a block diagram of the overall structure of a water pump constant-pressure and flow-control measuring platform based on a current closed loop;
FIG. 2 is a schematic view of a test mounting station;
FIG. 3 is a schematic view of a spray device;
FIG. 4 is a flow chart of parameter identification;
wherein: 1-test mounting table, 2-aviation water pump, 3-measurement module, 4-spraying device, 5-water pipe support, 6-water tank, 7-F4 control panel, 8-power module, 9-PVC transparent hose, 10-straight-through threaded joint, 11-double internal thread tube ancient and 12-flow sensor, 13-three-way flow divider, 14-pressure sensor, 15-U type hoop, 16-elbow threaded joint, 17-UPVC transparent hard straight water pipe, 18-UPVC transparent pipe cap, 19-internal water leakage-proof high-pressure spray head, 20-current sensor, 21-water pipe clamp, 22-aluminum profile support frame, 23-DC48V power supply, 24-48V to 24V transformer, 25-48V to 5V transformer.
Detailed Description
The invention will be explained in detail below with reference to the drawings in the examples of the invention.
Fig. 1 shows a block diagram of an overall structure of a current-closed-loop-based water pump constant-pressure and flow-control measuring platform, which mainly comprises the following parts: 1-test mounting table, 2-aviation water pump, 3-measurement module, 4-spraying device, 5-water pipe support, 6-water tank, 7-F4 control panel, 8-power module, 9-PVC transparent hose, 10-straight-through threaded joint, 11-double internal thread tube ancient and 12-flow sensor, 13-three-way flow divider, 14-pressure sensor, 15-U type hoop, 16-elbow threaded joint, 17-UPVC transparent hard straight water pipe, 18-UPVC transparent pipe cap, 19-internal water leakage-proof high-pressure spray head, 20-current sensor, 21-water pipe clamp, 22-aluminum profile support frame, 23-DC48V power supply, 24-48V to 24V transformer, 25-48V to 5V transformer. When the measuring platform works, liquid in the water tank 6 is pressurized and transported by the water pump and is sent to the spraying device 4 through the measuring module 3 to realize spraying. The measuring module 3 plays a connecting role between the aviation water pump 2 and the spraying device 4 and is responsible for collecting working parameters of a water outlet of the water pump and working current of the water pump, and the F4 control board 7 measures and processes the parameters and then carries out closed-loop control on the water pump according to different control requirements.
As shown in the schematic diagram of the test mounting table in fig. 2, the aviation water pump 2, the measurement module 3, the F4 control board 7 and the power module 8 are firmly mounted on the test mounting table 1 through the reserved mounting holes and the U-shaped anchor ear 15, wherein the measurement module 3 includes a flow sensor 12, a pressure sensor 14 and a current sensor 20, and is responsible for collecting flow, pressure and current parameters of the water pump and sending the parameters to the single chip microcomputer.
The spray device is a dual head atomizer as shown schematically in fig. 3. The internal water leakage-proof high-pressure nozzle 19 is fixedly arranged on the UPVC transparent hard straight water pipe 17, the UPVC transparent hard straight water pipe 17 is fixed on the aluminum profile supporting frame 22 through a water pipe clamp 21, and a heavy object is bound on the aluminum profile supporting frame 22 to ensure that the spraying device keeps stable during spraying.
The current sensor 20 is connected in series with a power supply circuit of the aviation water pump 2, the measurement range can reach 3.2A, the measurement accuracy is 0.1MA, and the acquired current data are transmitted into the single chip microcomputer by adopting an I2C transmission protocol. The water pump is in a PWM driving mode, the current spike pulse accounts for a large proportion, the single chip microcomputer conducts self-adaptive filtering on the current through a least mean square algorithm, and the method comprises the following specific steps:
the filtering model is set as:
in the formula yTTo output a signal, xT-kFor filtering the modulus input signal, omegakAre filter coefficients.
The filter coefficient ω is determined by
In the formula ekAs an error function, dkMu is the single adjustment step size for the desired value.
And carrying out root mean square processing on the acquired current data to obtain an expected value d, and inputting the expected value d into a least mean square algorithm to obtain a filtered output result.
As shown in fig. 4, which is a flow chart of least square curve fitting parameter identification, each parameter data in the initial state, the steady operation state, and the stagnation state is respectively subjected to least square curve fitting to perform least square error estimation, so as to obtain the identification relationship between corresponding parameters, which is as follows:
the water pump closed-loop control method is a traditional discrete incremental PID closed-loop control method.
In the formula ynTo output a signal, xnFor the input signal, Kp Ki KdAre all scaling factors and Δ y is a single cycle increment.
And inputting the corresponding control parameters into a PID algorithm according to different control modes to obtain output signals so as to realize constant voltage, flow or current control on the system.
And after the system is controlled, acquiring water pressure, flow and current parameter curves of the water pump in the processes of stable operation, starting and stopping of the system.
The following relationships exist for the operating parameters of the water pump under two different conditions 1 and 2:
the motor current I and the input power P of the direct current motor have a primary equation under the condition of constant voltage: I1/I2 ═ P1/P2.
The shaft power W and the rotating speed n of the motor form a cubic relation: W1/W2 ═ n1/n23
The water pump current I and the rotational speed n therefore have a cubic relationship in this example: I1/I2 ═ n1/n23
The pump lift H and the rotating speed n form a quadratic relation: H1/H2 ═ n1/n2)2
The flow Q and the rotation speed n are in a primary relation: Q1/Q2 ═ n1/n2
The pump head is proportional to the pressure, so in this example the water pump current is related to the flow to the third power and the pressure to the 1.5 power.
When the measured data is processed, a least square method curve fitting algorithm is adopted.
Let the fitting polynomial of current and flow be: a is0+a1Q+a2Q2+a3Q3
Let the fitting polynomial of current and pressure be: i is2＝a0+a1H+a2H2+a3H3
a0、a1、a2、a3Is a coefficient; dividing the measured data into a steady operation state and an initial stateThree groups of states and ending states are substituted into a fitting formula to calculate the minimum value of the error square sum, namely:
in the formula
For the fitting formula, y is the actual measurement.
Respectively solving partial derivatives of polynomial coefficients in the fitting formula:
let the partial derivative equal to 0, the equation is expressed as a vandermonde matrix and simplified:
solving the matrix equation to obtain fitting polynomial coefficients so as to obtain a relational expression of current, pressure and flow, and completing the parameter identification according to the steps.
And finally, performing current closed-loop control on the water pump on the basis of the relational expression, observing the control effect of the pressure and the flow of the water pump, and verifying the validity of the parameters.
Claims (7)
1. A water pump constant pressure and flow control measuring platform based on a current closed loop is characterized by comprising a test mounting platform (1), an aviation water pump (2), a measuring module (3), a spraying device (4), a water tank (6), an F4 control panel (7) and a power supply module (8);
the water tank (6) is connected with the aviation water pump (2) through a PVC transparent hose (9), a straight-through threaded joint (10) is arranged on the PVC transparent hose (9), the water outlet of the aviation water pump (2) is connected with the measuring module (3) through the PVC transparent hose (9) and a double-internal-wire tube (11), the measuring module (3) is respectively connected with the spraying device (4) through a three-way flow divider (13) and the PVC transparent hose (9), and water flows from the water tank (6) to the spraying device (4) through the aviation water pump (2) and the measuring module (3);
the F4 control panel (7) is fixed on the test mounting table (1) and is connected with the flow sensor (12), the pressure sensor (14), the current sensor (20) and the aviation water pump (2) of the measuring module (3), so that current, water pressure and flow data are collected and analyzed in real time, and the aviation water pump (2) is subjected to closed-loop control according to different control requirements.
2. The current closed loop-based water pump constant pressure and flow control measuring platform is characterized in that corresponding mounting holes are formed in the test mounting platform (1) according to the requirements of water pump constant pressure and flow control tests, so that the aviation water pump (2), the F4 control board (7) and the measuring module (3) are tightly fixed on the test mounting platform (1).
3. The current closed loop-based water pump constant pressure and flow control measuring platform as claimed in claim 1, wherein the flow sensor (12) and the pressure sensor (14) are connected through a three-way shunt (13) to measure pressure and flow parameters at the water outlet of the water pump, and the current sensor (20) is connected in series with the negative electrode of the power supply of the aviation water pump (2) and is used for measuring current parameters of the aviation water pump (2).
4. The current closed loop-based water pump constant pressure and flow control measuring platform is characterized in that the spraying device (4) is installed on a UPVC transparent hard straight water pipe (17) through two inner water-running anti-dripping high-pressure spray heads (19), the UPVC transparent hard straight water pipe (17) is sealed through a UPVC transparent pipe cap (18), and the spraying device (4) is connected with the measuring module (3) through an elbow threaded joint (16).
5. The current closed loop-based water pump constant pressure and flow control measuring platform as claimed in claim 1, further comprising a water pipe bracket (5) mounted on the aluminum profile supporting frame (22) by a water pipe clamp (21) to fix the spraying device (4).
6. The current closed-loop-based water pump constant voltage and flow control measuring platform as claimed in claim 1, wherein the power module (8) is composed of a DC48V power supply (23), a 48V-to-24V transformer (24) and a 48V-to-5V transformer (25) for respectively supplying power to the aviation water pump (2), the pressure sensor (14) and the F4 control board (7).
7. The method for identifying the measurement data of the constant pressure and flow control measurement platform of the water pump based on the current closed loop as claimed in claim 1, comprising the following steps:
step 1, a water pump is connected with a DC48V power supply (23), and a power supply module (8) supplies power to a pressure sensor (14), a flow sensor (12), a current sensor (20) and an F4 control panel (7) through a 48V-to-24V transformer (24) and a 48V-to-5V transformer (25);
step 2, opening a valve of a water tank (6), starting an aviation water pump (2) to pump water from the water tank (6), collecting the working state of the water pump at a water outlet by a measuring module (3), and conveying water to a spraying device (4) through a PVC transparent hose (9) after the water is collected and measured by the measuring module (3) to realize normal spraying;
step 3, reading state parameters returned by the measuring module (8) through the F4 control board (7), and performing pressure closed-loop control on the aviation water pump (2) by taking data of the pressure sensor (14) as feedback quantity to record numerical value curves of pressure, flow and current when the water pressure is from low to high and runs stably and is from high to low under different pressure conditions;
step 4, taking data of the flow sensor (12) as feedback quantity to perform flow closed-loop control on the aviation water pump (2), and recording numerical value curves of pressure, flow and current when the flow is changed from small to large, the flow runs stably and the flow is changed from large to small under different flow conditions;
step 5, performing curve fitting on the curve data measured in the two steps, establishing a state equation to describe the relationship among pressure, flow and current, and solving identification parameters;
and step 6, taking the water pump current measured by the current sensor (20) as a feedback quantity, and performing closed-loop control according to the obtained identification parameters to verify the parameter validity.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201449537U (en) * | 2009-06-20 | 2010-05-05 | 林惜珠 | Feedback control apparatus for electromagnetic water pump of steam cleaning machine |
| CN203430494U (en) * | 2013-09-14 | 2014-02-12 | 黄翔 | Constant-pressure/constant-flow water injecting device |
| CN103615380A (en) * | 2013-12-06 | 2014-03-05 | 杭州哲达节能科技有限公司 | Non-sensor constant-pressure pump and valve integrated device |
| CN111350651A (en) * | 2020-03-12 | 2020-06-30 | 利欧集团浙江泵业有限公司 | Constant-pressure control method of intelligent variable-frequency water pump |
| CN111828299A (en) * | 2020-07-16 | 2020-10-27 | 上海熠动动力科技有限公司 | Constant-pressure water supply control method without pressure sensor |
| CN211774115U (en) * | 2019-12-27 | 2020-10-27 | 威瑞（天津）机电有限公司 | Constant-pressure water supply system |
-
2021
- 2021-12-29 CN CN202111634680.9A patent/CN114355761A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201449537U (en) * | 2009-06-20 | 2010-05-05 | 林惜珠 | Feedback control apparatus for electromagnetic water pump of steam cleaning machine |
| CN203430494U (en) * | 2013-09-14 | 2014-02-12 | 黄翔 | Constant-pressure/constant-flow water injecting device |
| CN103615380A (en) * | 2013-12-06 | 2014-03-05 | 杭州哲达节能科技有限公司 | Non-sensor constant-pressure pump and valve integrated device |
| CN211774115U (en) * | 2019-12-27 | 2020-10-27 | 威瑞（天津）机电有限公司 | Constant-pressure water supply system |
| CN111350651A (en) * | 2020-03-12 | 2020-06-30 | 利欧集团浙江泵业有限公司 | Constant-pressure control method of intelligent variable-frequency water pump |
| CN111828299A (en) * | 2020-07-16 | 2020-10-27 | 上海熠动动力科技有限公司 | Constant-pressure water supply control method without pressure sensor |
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